TY - JOUR
T1 - On design of a redundant wire-driven parallel robot WARP manipulator
AU - Maeda, Kiyoshi
AU - Tadokoro, Satoshi
AU - Takamori, Toshi
AU - Hiller, Manfred
AU - Verhoeven, Richard
PY - 1999/1/1
Y1 - 1999/1/1
N2 - A redundant wire-driven parallel robot WARP manipulator is a new robot mechanism which is suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, a WARP manipulator was designed from the view point of working space by considering conditions that the traveling plate must be able to generate arbitrary amounts of force and moment and the wires are not to be in contact. Simulation results of working space proved the validity of design procedure stated here. A prototype of WARP manipulator was manufactured. Kinematic parameters were calibrated for position control.
AB - A redundant wire-driven parallel robot WARP manipulator is a new robot mechanism which is suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, a WARP manipulator was designed from the view point of working space by considering conditions that the traveling plate must be able to generate arbitrary amounts of force and moment and the wires are not to be in contact. Simulation results of working space proved the validity of design procedure stated here. A prototype of WARP manipulator was manufactured. Kinematic parameters were calibrated for position control.
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M3 - Conference article
AN - SCOPUS:0032668530
SN - 1050-4729
VL - 2
SP - 895
EP - 900
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
Y2 - 10 May 1999 through 15 May 1999
ER -